bpf: Remove bpf_cgroup_kptr_get() kfunc

Now that bpf_cgroup_acquire() is KF_RCU | KF_RET_NULL,
bpf_cgroup_kptr_get() is redundant. Let's remove it, and update
selftests to instead use bpf_cgroup_acquire() where appropriate. The
next patch will update the BPF documentation to not mention
bpf_cgroup_kptr_get().

Signed-off-by: David Vernet <void@manifault.com>
Link: https://lore.kernel.org/r/20230411041633.179404-2-void@manifault.com
Signed-off-by: Alexei Starovoitov <ast@kernel.org>